feat(module:form): support auto error tips

[danranVm]

PR Checklist

Please check if your PR fulfills the following requirements:

• The commit message follows our guidelines: https://github.com/NG-ZORRO/ng-zorro-antd/blob/master/CONTRIBUTING.md#commit
• Tests for the changes have been added (for bug fixes / features)
• Docs have been added / updated (for bug fixes / features)

PR Type

What kind of change does this PR introduce?

[ ] Bugfix
[x] Feature
[ ] Code style update (formatting, local variables)
[ ] Refactoring (no functional changes, no api changes)
[ ] Build related changes
[ ] CI related changes
[ ] Documentation content changes
[ ] Application (the showcase website) / infrastructure changes
[ ] Other... Please describe:

What is the current behavior?

Issue Number: #4523

What is the new behavior?

Does this PR introduce a breaking change?

[ ] Yes
[x] No

Other information

[zorro-bot]

This preview will be available after the AzureCI is passed.

[codecov]

Codecov Report

Merging #4888 into master will increase coverage by 0.02%.
The diff coverage is 96.07%.

@@            Coverage Diff             @@
##           master    #4888      +/-   ##
==========================================
+ Coverage   91.45%   91.48%   +0.02%     
==========================================
  Files         550      550              
  Lines       13694    13739      +45     
  Branches     2107     2122      +15     
==========================================
+ Hits        12524    12569      +45     
  Misses        709      709              
  Partials      461      461              

Impacted Files	Coverage Δ
components/core/config/config.ts	100.00% <ø> (ø)
components/form/form-control.component.ts	94.91% <94.59%> (+0.79%)	⬆️
components/form/form.directive.ts	100.00% <100.00%> (ø)
components/grid/col.directive.ts	98.46% <0.00%> (+1.53%)	⬆️

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[vthinkxie]

nzTipOptions 的名称改成 nzAutoTips 吧，感觉和 nzDisableAutoTips 两个名称关联不上，其他的都ok

[vthinkxie]

lgtm